WO2019084796A1 - 无人飞行器、无人飞行器底座及无人飞行器系统 - Google Patents

无人飞行器、无人飞行器底座及无人飞行器系统 Download PDF

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Publication number
WO2019084796A1
WO2019084796A1 PCT/CN2017/108670 CN2017108670W WO2019084796A1 WO 2019084796 A1 WO2019084796 A1 WO 2019084796A1 CN 2017108670 W CN2017108670 W CN 2017108670W WO 2019084796 A1 WO2019084796 A1 WO 2019084796A1
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Prior art keywords
module
uav
aerial vehicle
base
unmanned aerial
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PCT/CN2017/108670
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English (en)
French (fr)
Inventor
周震昊
李阳
陶冶
林茂疆
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780026936.3A priority Critical patent/CN109362228B/zh
Priority to PCT/CN2017/108670 priority patent/WO2019084796A1/zh
Publication of WO2019084796A1 publication Critical patent/WO2019084796A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/16—Propulsion using means other than air displacement or combustion exhaust, e.g. water or magnetic levitation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/37—Charging when not in flight
    • B64U50/38—Charging when not in flight by wireless transmission
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts

Definitions

  • the invention relates to the technical field of application of an unmanned aerial vehicle, in particular to an unmanned aerial vehicle, an unmanned aerial vehicle base and an unmanned aerial vehicle system.
  • the object of the present invention is to provide an unmanned aerial vehicle, an unmanned aerial vehicle base and an unmanned aerial vehicle system.
  • the unmanned aerial vehicle is suspended in an unmanned aerial vehicle base and can be used for video surveillance, intelligent meetings, etc., and can also be used as a home craft.
  • an unmanned aerial vehicle comprising:
  • a camera for acquiring video image data
  • a processor coupled to the camera for processing the video image data, the processing the video image data comprising identifying a particular object in the video image based on a visual recognition algorithm and for the particular object Tracking;
  • the wireless charging module is configured to be paired with an external wireless charging base module
  • a magnetic levitation module for suspending the unmanned aerial vehicle on an external magnetic levitation susceptor
  • the first communication module being coupled to the processor.
  • an unmanned aerial vehicle base including:
  • the wireless charging base module is configured to be paired with an external wireless charging module
  • control module for controlling the magnetic suspension base
  • the third communication module being connected to the control module.
  • an unmanned aerial vehicle system comprising the unmanned aerial vehicle of the first aspect of the above embodiment and the unmanned aerial vehicle base of the second aspect of the above embodiment,
  • the first communication module and the third communication module are connected by wireless communication, and the magnetic levitation module is paired with the magnetic levitation base to suspend the unmanned aerial vehicle on the unmanned aerial vehicle base.
  • the magnetic levitation module of the UAV can suspend the UAV on the magnetic levitation base, the UAV can flexibly rotate to acquire video image data. It can also facilitate the tracking of specific objects, and realize the combination of the target tracking function while the UAV is suspended on the pedestal.
  • the wireless charging module is installed to conveniently charge the unmanned aerial vehicle. Therefore, when the UAV is not in use, various functions can be realized by cooperating with the base. For example, in home monitoring, such an unmanned aerial vehicle system can be displayed as a craft on the one hand, and more effective omnidirectional monitoring on the other hand, without affecting the interior layout. For example, in a video conference, the UAV system can track the participants in real time, enabling participants to display more freely without being limited by the video range of the traditional camera, thereby achieving smarter Conference function.
  • FIG. 1 shows a schematic structural view of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of an unmanned aerial vehicle base according to an embodiment of the present invention.
  • Figure 3 shows a system block diagram of an unmanned aerial vehicle system in accordance with one embodiment of the present invention
  • Figure 4 is a block diagram showing the structure of an unmanned aerial vehicle system according to a first embodiment of the present invention
  • Figure 5 is a block diagram showing the structure of an unmanned aerial vehicle system according to a second embodiment of the present invention.
  • Figure 6 is a block diagram showing the structure of an unmanned aerial vehicle system according to a third embodiment of the present invention.
  • Figure 7 is a block diagram showing the structure of an unmanned aerial vehicle system according to a fourth embodiment of the present invention.
  • Figure 8 is a block diagram showing the structure of an unmanned aerial vehicle system according to a fifth embodiment of the present invention.
  • Figure 9 is a block diagram showing the structure of an unmanned aerial vehicle system according to a sixth embodiment of the present invention.
  • Fig. 10 is a block diagram showing the structure of an unmanned aerial vehicle system according to a seventh embodiment of the present invention.
  • Fig. 1 schematically shows a schematic structural view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • an unmanned aerial vehicle 10 includes a camera 101, a wireless charging module 102, a magnetic levitation module 103, and a processor and a first communication module not shown in FIG.
  • the camera 101 is configured to acquire video image data; the processor is coupled to the camera 101 for processing the video image data, and optionally, processing the video image data includes identifying a specific object in the video image according to a visual recognition algorithm. And tracking the specific object; the wireless charging module 102 is used for pairing with the external wireless charging base module; the magnetic levitation module 103 is for suspending the unmanned aerial vehicle 10 on the external magnetic levitation base; the first communication module and the processor Connected.
  • the wireless charging base module and the external magnetic suspension base may be one
  • the body design can also be designed separately.
  • the processor in the UAV 10 is further configured to generate a first control command after processing the video image data.
  • the first control instruction may be an instruction to control the external device, and the first control command may be sent to the external device by using the first communication module.
  • the first control command is an instruction to control the magnetic levitation base, and then can be sent to the external unmanned aerial vehicle base through the first communication module to control the magnetic levitation base in the external unmanned aerial vehicle base to rotate the unmanned aerial vehicle 10, Track specific objects in an omnidirectional direction.
  • the UAV 10 further includes a rechargeable battery that is coupled to the wireless charging module 102 and that is charged by the wireless charging module 102.
  • the UAV 10 further includes a memory for storing video image data acquired by the camera 101.
  • the UAV 10 further includes a second communication module coupled to the processor and further for wirelessly communicating with an external monitoring device.
  • the external monitoring device may be a smart phone, a tablet, a computer, or the like.
  • the unmanned aerial vehicle 10 can actively send the video image data to the external monitoring device, or can be actively acquired by the external monitoring device through the second communication module.
  • first communication module and the second communication module may be two devices independent of each other, or the same device may implement two different communication functions.
  • the magnetic levitation module 103 comprises at least one of a permanent magnet or an electromagnet.
  • Fig. 2 is a schematic block diagram showing the structure of an unmanned aerial vehicle base according to an embodiment of the present invention.
  • an unmanned aerial vehicle base 20 includes a wireless charging base module 201, a magnetic levitation base 202, and a control module and a third communication module not shown in FIG.
  • the wireless charging base module 201 is used for pairing with an external wireless charging module; the control module is for controlling the magnetic suspension base 202; and the third communication module is connected with the control module.
  • the control module can rotate the UAV by controlling the magnetic levitation pedestal 202 to achieve omnidirectional tracking of a particular object.
  • the third communication module is further configured to perform a wireless communication connection with an external device.
  • the external device may be an unmanned aerial vehicle or other device used as a console.
  • control module acquires a control command from the external device through the third communication module.
  • control command may be an instruction for controlling the magnetic levitation pedestal 202.
  • the magnetic suspension base 202 includes an electromagnet.
  • control module is configured to control at least one of a current intensity and a centroid position of the electromagnet. It should be noted that the control module controls the current intensity of the electromagnet to change the intensity of the magnetic field generated by the electromagnet, thereby adjusting the levitation height of the UAV; and by controlling the position of the centroid, the offset between the center of mass and the center of rotation can be indirectly controlled. The amount, in turn, achieves the control of the speed of rotation and the direction of rotation.
  • the unmanned aerial vehicle and the unmanned aerial vehicle base of the embodiment of the present invention are respectively described above, and the unmanned aerial vehicle system 30 of the embodiment of the present invention will be described below.
  • Fig. 3 schematically shows a system block diagram of an unmanned aerial vehicle system in accordance with an embodiment of the present invention.
  • an unmanned aerial vehicle system 30 includes an unmanned aerial vehicle 10 and an unmanned aerial vehicle base 20.
  • an external monitoring device 40 can also be included.
  • the unmanned aerial vehicle 10 may include a camera 101, a wireless charging module 102, a magnetic levitation module 103, a processor 104, and a first communication module 105.
  • the camera 101 is configured to acquire video image data;
  • the processor 104 is coupled to the camera 101 for processing video image data acquired by the camera 101; and
  • the first communication module 105 is coupled to the processor 104.
  • the unmanned aerial vehicle 10 may further include a rechargeable battery 106 connected to the wireless charging module 102 for charging by the wireless charging module 102.
  • the UAV 10 may further include a memory 107 for storing video image data acquired by the camera 101, and a second communication module 108 coupled to the processor 104.
  • the second communication module 108 can be connected to the external monitoring device 40 by wireless communication, and the external monitoring device 40 can send corresponding control commands to the second communication module 108 to implement corresponding operations, such as
  • the UAV 10 is controlled to transmit back the acquired video image data, control the wireless charging module 102 to turn on/off the charging, and the like.
  • the UAV base 20 may include a wireless charging base module 201, a magnetic suspension base 202, a control module 203, and a third communication module 204.
  • the control module 203 is used to control the magnetic levitation base 202, and the third communication module 204 is connected to the control module 203.
  • the UAV base 20 may also include a fourth communication module 205 coupled to the control module 203.
  • third communication module 204 and the fourth communication module 205 may be two devices independent of each other, or the same device may implement two different communication functions.
  • the wireless charging module 102 is paired with the wireless charging base module 201 for wireless charging.
  • the wireless charging module 102 and the wireless charging base module 201 can be paired through the Qi protocol or the A4WP protocol.
  • the magnetic levitation module 103 is used to interact with the magnetic levitation susceptor 202 to suspend the unmanned aerial vehicle 10.
  • the first communication module 105 and the third communication module 204 are connected by wireless communication, and the processor 104 can process the video image data acquired by the camera 101, and then generate a first control instruction, and send it to the first communication module 105.
  • the third communication module 204, and thus the control module 203, can acquire the first control instruction to implement a corresponding control operation according to the first control instruction.
  • the first control instruction may be an instruction to control the magnetic levitation susceptor 202.
  • the processor 104 identifies the video image data acquired by the camera 101 by using a visual recognition algorithm. a specific object, when the specific object moves, the processor 104 recognizes the motion trajectory of the specific object according to the video image data acquired by the camera 101, and then generates a first control instruction to the magnetic levitation susceptor 202, and passes the first communication
  • the module 105 is sent to the third communication module 204, and the control module 203 can obtain the first control finger.
  • the magnetic levitation base 202 is controlled to adjust the monitoring angle of the unmanned aerial vehicle by controlling the magnetic levitation base 202, thereby achieving omnidirectional tracking of the specific object.
  • the first control command may also be used to control the magnetic levitation base 202 to adjust the height of the unmanned aerial vehicle 10 by adjusting the magnetic field, to rotate the unmanned aerial vehicle 10 by a certain angle, and to fix The angle of view of the unmanned aerial vehicle 10 and the like.
  • the fourth communication module 205 can be connected to the external monitoring device 40 by wireless communication.
  • the external monitoring device 40 may be a control device that is provided by the UAV, or may be other control devices such as a smart phone, a tablet computer, a computer, etc., and the external monitoring device 40 may send a second control command to the fourth communication module 205, and then
  • the control module 203 can acquire the second control instruction, and control the UAV base 20 according to the second control instruction to perform a corresponding operation, such as controlling the wireless charging base module 201 to turn on/off charging, and controlling the magnetic levitation base 202 to adjust.
  • the magnetic field adjusts the height of the UAV 10, rotates the UAV by a certain angle, and fixes the viewing angle.
  • control module 203 in the UAV base 20 is capable of performing specific operations in accordance with a first control command from the processor 104 and/or a second control command from the external monitoring device 40.
  • the following describes how the control module 203 adjusts the height of the UAV 10, the monitoring angle of view, etc. according to the first control command and/or the second control command:
  • control module 203 in the UAV base 20 can control the current intensity of the electromagnet in the magnetic suspension base 202, thereby changing the magnitude of the magnetic field generated by the electromagnet in the magnetic suspension base 202 to adjust
  • the levitation height of the unmanned aerial vehicle 10 makes it possible to adjust the monitoring height of the unmanned aerial vehicle 10.
  • control module 203 in the UAV base 20 can realize the rotation control of the UAV 10 by means of magnetic field rotation or momentum conservation to control the UAV 10 monitoring angle. Adjustment.
  • the control module 203 in the UAV base 20 can control the rotation of the electromagnet in the magnetic suspension base 202 to control the rotation of the magnetic field, thereby driving the UAV 10 to rotate, thereby realizing the adjustment of the monitoring angle of view. the goal of.
  • the control module 203 can also indirectly control the offset between the center of mass and the center of rotation by controlling the position of the centroid, thereby realizing the control of the speed of rotation and the direction of rotation.
  • the initial momentum may be obtained by wind, in particular: an air vent may be provided on the UAV base 20 for jetting to the UAV 10 to obtain the initial momentum.
  • control module 203 in the UAV base 20 can control the jet timing of the air outlet according to the received first control command and/or the second control command, thereby not only acquiring the initial momentum described above. In order to achieve the rotation, it is also possible to achieve an adjustment of any monitoring angle of view of the unmanned aerial vehicle 10.
  • the processor 104 in the UAV 10 can also achieve similar control.
  • an air vent may be provided on the unmanned aerial vehicle 10 for jetting to the outside to acquire an initial momentum upon rotation by interacting with the air.
  • the processor 104 can control the jet timing of the air outlet according to the control command sent by the external monitoring device 40, thereby not only acquiring the initial momentum described above to achieve the rotation, but also realizing the arbitrary viewing angle of the unmanned aerial vehicle 10. Adjustment.
  • the above communication modules may be any combination of one or more of the following: Wi- Fi communication module, mobile communication module (such as 4G communication module, 5G communication module, etc.), Bluetooth communication module, radio frequency communication module, infrared communication module, NFC (Near Field Communication) communication module.
  • FIG. 3 specifically illustrates a system block diagram of an unmanned aerial vehicle system in accordance with an embodiment of the present invention.
  • An exemplary structure of an unmanned aerial vehicle system according to an embodiment of the present invention will be described below with reference to FIGS. 4 through 10.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the magnetic levitation module 103 on the UAV interacts with the magnetic levitation pedestal 202 on the UAV base to suspend the UAV in the UAV base, and the wireless charging module 102 on the UAV
  • the wireless charging base module 201 on the base of the human aircraft is paired to achieve wireless charging.
  • the suspension between the unmanned aerial vehicle and the unmanned aerial vehicle base is achieved by the repulsive force between the magnetic fields.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1 :
  • the unmanned aerial vehicle base is exactly opposite to the unmanned aerial vehicle base shown in FIG. 4.
  • the magnetic levitation module 103 of the unmanned aerial vehicle and the magnetic levitation base 202 of the unmanned aerial vehicle base are repulsion.
  • the suspension is achieved, and in the embodiment shown in Fig. 5, the magnetic levitation module 103 of the unmanned aerial vehicle and the magnetic levitation base 202 of the unmanned aerial vehicle base are suspended by suction.
  • Embodiment 3 is a diagrammatic representation of Embodiment 3 :
  • the UAV base is a combination of the UAV base shown in Figures 4 and 5.
  • the UAV base has a first portion 401, a second portion 402, and a third portion 403.
  • the magnetic levitation base 202 on the base of the UAV may be disposed on the first portion 401 shown in FIG. 6, or may be disposed on the third portion 403, and may also be provided with magnetic levitation on the first portion 401 and the third portion 403.
  • Base 202 may be disposed on the first portion 401 shown in FIG. 6, or may be disposed on the third portion 403, and may also be provided with magnetic levitation on the first portion 401 and the third portion 403.
  • Embodiment 4
  • the UAV base is an arcuate base that partially surrounds the UAV.
  • the UAV base can also be more around the UAV, as shown in FIG. 8 and FIG. 9, and of course the UAV base 20 can also completely surround the UAV 10 as shown in FIG. .
  • the magnetic suspension base 202 can also be placed on top of the curved base, or the magnetic suspension base 202 can be placed on the top and bottom of the curved base.
  • the curved base can also be replaced by other shapes, such as a square ring or a part of a square ring.
  • the unmanned aerial vehicle described above may be a drone.
  • a drone For example, when you need to use a drone to take images or videos, you can remove the drone from the base. When the drone is not in use, you can place the drone on the base and monitor it by floating. And can achieve tracking of specific objects.

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Abstract

一种无人飞行器（10），其中，该无人飞行器（10）包括：摄像头（101），其用于获取视频图像数据；处理器，其与摄像头（101）相连接，用于处理视频图像数据，处理视频图像数据包括根据视觉识别算法识别视频图像中的特定物体，并对特定物体进行跟踪；无线充电模块（102），其用于与外部无线充电基座模块配对连接；磁悬浮模块（103），其用于使无人飞行器（10）悬浮于外部磁悬浮基座；和第一通信模块，第一通信模块与处理器相连接。该飞行器实现了无人飞行器用于视频监控并实现全向悬浮监控和视觉跟踪，提高了监控系统的隐蔽性和趣味性。还涉及一种无人飞行器底座及无人飞行器系统。

Description

无人飞行器、无人飞行器底座及无人飞行器系统 技术领域
本发明涉及无人飞行器应用技术领域，尤其涉及一种无人飞行器、无人飞行器底座及无人飞行器系统。
背景技术
随着经济发展和居民收入与生活水平的提高，无人飞行器开始在大众中普及开来，越来越多的人使用无人飞行器进行航拍等娱乐活动。然而，这些无人飞行器大部分时间都被搁置，并没有被有效地使用。另一方面，由于无人飞行器续航时间的限制，也导致很多时间其都在进行充电而不能实现任何功能。因此，如何提高无人飞行器在不使用时的实用性，将其应用在更多的场景中成为了一个问题。
发明内容
本发明的目的是提供一种无人飞行器、无人飞行器底座及无人飞行器系统，该无人飞行器悬浮于无人飞行器底座，可以用于视频监控、智能会议等，也可用作家庭工艺品。
根据本发明实施例的第一方面，提供了一种无人飞行器，包括：
摄像头，所述摄像头用于获取视频图像数据；
处理器，所述处理器与所述摄像头相连接，用于处理所述视频图像数据，所述处理所述视频图像数据包括根据视觉识别算法识别视频图像中的特定物体，并对所述特定物体进行跟踪；
无线充电模块，所述无线充电模块用于与外部无线充电基座模块配对连接；
磁悬浮模块，所述磁悬浮模块用于使所述无人飞行器悬浮于外部磁悬浮基座；和
第一通信模块，所述第一通信模块与所述处理器相连接。
根据本发明实施例的第二方面，提供了一种无人飞行器底座，包括：
无线充电基座模块，所述无线充电基座模块用于与外部无线充电模块配对连接；
磁悬浮基座；
控制模块，所述控制模块用于控制所述磁悬浮基座；和
第三通信模块，所述第三通信模块与所述控制模块相连接。
根据本发明实施例的第三方面，提供了一种无人飞行器系统，包括如上述实施例中第一方面所述的无人飞行器和上述实施例中第二方面所述的无人飞行器底座，所述第一通信模块与所述第三通信模块通过无线通信进行连接，且所述磁悬浮模块与所述磁悬浮基座配对作用以使所述无人飞行器悬浮于所述无人飞行器底座。
在本发明的一些实施例所提供的技术方案中，由于无人飞行器的磁悬浮模块能够使无人飞行器悬浮于磁悬浮基座，因此无人飞行器能够灵活地进行转动来获取视频图像数据， 并且也能够便于实现对特定物体的跟踪，实现了无人飞行器在基座上悬浮的同时实现目标跟踪功能的结合。而设置的无线充电模块，则能够方便地对无人飞行器进行充电。因此，无人飞行器在不使用的时候，可以通过与底座的配合而实现各种功能。例如，在家庭监控中，这种无人飞行器系统一方面可以作为工艺品进行展示，另一方面也可以实现更有效的全向监控功能，并且不对室内布局产生影响。又例如，在视频会议中，这种无人飞行器系统可以实现实时对与会者的跟踪，使得与会者能够更为自由的进行展示而不再受限于传统摄像头的视频范围，从而实现更智能的会议功能。
附图说明
图1示出了根据本发明的一个实施例的无人飞行器的结构示意图；
图2示出了根据本发明的一个实施例的无人飞行器底座的结构示意图；
图3示出了根据本发明的一个实施例的无人飞行器系统的系统框图；
图4示出了根据本发明的第一个实施例的无人飞行器系统的结构示意图；
图5示出了根据本发明的第二个实施例的无人飞行器系统的结构示意图；
图6示出了根据本发明的第三个实施例的无人飞行器系统的结构示意图；
图7示出了根据本发明的第四个实施例的无人飞行器系统的结构示意图；
图8示出了根据本发明的第五个实施例的无人飞行器系统的结构示意图；
图9示出了根据本发明的第六个实施例的无人飞行器系统的结构示意图；
图10示出了根据本发明的第七个实施例的无人飞行器系统的结构示意图。
具体实施方式
下面将参考若干示例性实施方式来描述本发明的原理和精神。应当理解，给出这些实施方式仅仅是为了使本领域技术人员能够更好地理解进而实现本发明，而并非以任何方式限制本发明的范围。相反，提供这些实施方式是为了使本发明更加透彻和完整，并且能够将本发明的范围完整地传达给本领域的技术人员。
下面参考本发明的若干代表性实施方式，详细阐释本发明的原理和精神。
图1示意性示出了根据本发明的一个实施例的无人飞行器的结构示意图。
参照图1所示，根据本发明的实施例的无人飞行器10，包括：摄像头101、无线充电模块102、磁悬浮模块103，以及图1中未示出的处理器和第一通信模块。
其中，摄像头101用于获取视频图像数据；处理器与摄像头101相连接，用于处理所述视频图像数据，可选地，处理所述视频图像数据包括根据视觉识别算法识别视频图像中的特定物体，并对所述特定物体进行跟踪；无线充电模块102用于与外部无线充电基座模块配对连接；磁悬浮模块103用于使无人飞行器10悬浮于外部磁悬浮基座；第一通信模块与处理器相连接。
需要说明的是，在本发明的实施例中，无线充电基座模块和外部磁悬浮基座可以是一 体设计的，也可以是分体设计的。
以下对无人飞行器10的一些细节进行详细阐述：
在本发明的实施例中，无人飞行器10中的处理器还用于在处理所述视频图像数据后，生成第一控制指令。可选地，该第一控制指令可以是对外部设备进行控制的指令，具体可以通过第一通信模块将该第一控制指令发送至外部设备。比如该第一控制指令是对磁悬浮基座进行控制的指令，进而可以通过第一通信模块发送至外部无人飞行器底座，以控制外部无人飞行器底座中的磁悬浮基座使无人飞行器10旋转，以全向跟踪特定物体。
在本发明的实施例中，无人飞行器10还包括可充电电池，所述可充电电池与无线充电模块102相连接，并通过无线充电模块102进行充电。
在本发明的实施例中，无人飞行器10还包括存储器，该存储器用于存储摄像头101获取到的视频图像数据。
在本发明的实施例中，无人飞行器10还包括第二通信模块，所述第二通信模块与所述处理器相连接，并且还用于与外部监控设备进行无线通信连接。可选地，该外部监控设备可以是智能手机、平板电脑、计算机等设备。其中，无人飞行器10可以主动将视频图像数据发送至外部监控设备，也可以由外部监控设备通过第二通信模块主动获取。
需要说明的是，上述第一通信模块和第二通信模块可以是相互独立的两个装置，也可以是同一个装置实现了两个不同的通信功能。
在本发明的实施例中，磁悬浮模块103包括永磁铁或电磁铁中的至少一种。
图2示意性示出了根据本发明的一个实施例的无人飞行器底座的结构示意图。
参照图2所示，根据本发明的一个实施例的无人飞行器底座20，包括：无线充电基座模块201、磁悬浮基座202，以及图2中未示出的控制模块和第三通信模块。
其中，无线充电基座模块201用于与外部无线充电模块配对连接；控制模块用于控制磁悬浮基座202；第三通信模块与控制模块相连接。在本发明的实施例中，控制模块可以通过控制磁悬浮基座202来使无人飞行器旋转，进而实现全向跟踪特定物体。
在本发明的实施例中，所述第三通信模块还用于与外部设备进行无线通信连接。可选地，该外部设备可以是无人飞行器或其它用作控制端的设备。
在本发明的实施例中，控制模块通过所述第三通信模块从所述外部设备获取控制指令。可选地，该控制指令可以是用于控制磁悬浮基座202的指令。
在本发明的实施例中，所述磁悬浮基座202包括电磁铁。
在本发明的实施例中，所述控制模块用于控制所述电磁铁的电流强度、质心位置中的至少一种。需要说明的是，控制模块控制电磁铁的电流强度可以改变电磁铁产生的磁场强度，进而可以调整无人飞行器的悬浮高度；而通过控制质心位置，可以间接控制质心与旋转中心之间的偏移量，进而实现旋转速度快慢和旋转方向的控制。
需要说明的是，图2中仅示出了一种实施例的无人飞行器底座20的结构，其它结构的无人飞行器底座20将在介绍本发明实施例的无人飞行器系统时进行阐述。
以上分别介绍了本发明实施例的无人飞行器和无人飞行器底座，以下介绍本发明实施例的无人飞行器系统30。
图3示意性示出了根据本发明的实施例的无人飞行器系统的系统框图。
参照图3所示，根据本发明的实施例的无人飞行器系统30，包括：无人飞行器10和无人飞行器底座20。可选地，还可以包括外部监控设备40。
其中，无人飞行器10可以包括：摄像头101、无线充电模块102、磁悬浮模块103、处理器104和第一通信模块105。摄像头101用于获取视频图像数据；处理器104与摄像头101相连接，用于处理摄像头101获取到的视频图像数据；第一通信模块105与处理器104相连接。
可选地，无人飞行器10还可以包括与无线充电模块102相连接的可充电电池106，以通过无线充电模块102进行充电。此外，无人飞行器10还可以包括用于存储摄像头101获取到的视频图像数据的存储器107，以及与处理器104相连接的第二通信模块108。
在本发明的实施例中，第二通信模块108可以与外部监控设备40通过无线通信进行连接，进而外部监控设备40可以向第二通信模块108发送相应的控制指令，以实现相应的操作，比如控制无人飞行器10回传获取到的视频图像数据、控制无线充电模块102开启/关闭充电等等。
无人飞行器底座20可以包括：无线充电基座模块201、磁悬浮基座202、控制模块203和第三通信模块204。控制模块203用于控制磁悬浮基座202，第三通信模块204与控制模块203相连接。可选地，无人飞行器底座20还可以包括与控制模块203相连的第四通信模块205。
需要说明的是，第三通信模块204与第四通信模块205可以是相互独立的两个装置，也可以是同一个装置实现了两个不同的通信功能。
在上述的无人飞行器系统30中，无线充电模块102与无线充电基座模块201配对连接，用于实现无线充电。可选地，无线充电模块102和无线充电基座模块201可以通过Qi协议或A4WP协议进行配对连接。
磁悬浮模块103用于与磁悬浮基座202相互作用，以使无人飞行器10悬浮。第一通信模块105与第三通信模块204通过无线通信进行连接，处理器104可以对摄像头101获取到的视频图像数据进行处理，然后生成第一控制指令，并通过第一通信模块105发送至第三通信模块204，进而控制模块203能够获取到该第一控制指令，以根据该第一控制指令实现相应的控制操作。
可选地，在本发明的一个实施例中，该第一控制指令可以是对磁悬浮基座202进行控制的指令，比如处理器104根据摄像头101获取到的视频图像数据通过视觉识别算法识别到其中的特定物体，当该特定物体移动时，处理器104根据摄像头101获取到的视频图像数据识别到该特定物体的运动轨迹，然后生成对磁悬浮基座202的第一控制指令，并通过第一通信模块105发送至第三通信模块204，进而控制模块203能够获取到该第一控制指 令，并根据该第一控制指令对磁悬浮基座202进行控制，以通过对磁悬浮基座202的控制来调整无人飞行器的监控角度，从而实现对上述特定物体的全向追踪。
当然，在本发明的其它实施例中，第一控制指令还可以用于控制磁悬浮基座202，以通过调整磁场来对无人飞行器10的高度进行调整、使无人飞行器10转动一定角度、固定无人飞行器10的视角等等。
在本发明的实施例中，第四通信模块205可以与外部监控设备40通过无线通信进行连接。外部监控设备40可以是无人飞行器自带的控制设备，也可以是诸如智能手机、平板电脑、计算机等其它控制设备，该外部监控设备40可以向第四通信模块205发送第二控制指令，进而控制模块203能够获取到该第二控制指令，并根据该第二控制指令控制无人飞行器底座20来执行相应的操作，比如控制无线充电基座模块201开启/关闭充电、控制磁悬浮基座202调整磁场以调整无人飞行器10的高度、使无人飞行器转动一定角度、固定视角等。
上述实施例中介绍了无人飞行器底座20中的控制模块203能够根据来自处理器104的第一控制指令和/或来自外部监控设备40的第二控制指令来执行具体的操作。以下对控制模块203如何根据第一控制指令和/或第二控制指令来调整无人飞行器10的高度、监控视角等进行说明：
对无人飞行器10高度的调整：
在本发明的实施例中，无人飞行器底座20中的控制模块203可以控制磁悬浮基座202中的电磁铁的电流强度，进而可以改变磁悬浮基座202中的电磁铁产生的磁场大小，以调整无人飞行器10的悬浮高度，从而可以实现对无人飞行器10的监控高度的调整。
对监控视角的调整：
在本发明的实施例中，无人飞行器底座20中的控制模块203可以通过磁场旋转的方式或动量守恒的方式来实现对无人飞行器10的旋转控制，以对无人飞行器10的监控视角进行调整。
具体地，对于磁场旋转的方式，无人飞行器底座20中的控制模块203可以控制磁悬浮基座202中的电磁铁旋转，以控制磁场旋转，进而可以带动无人飞行器10转动，从而实现调整监控视角的目的。同时，控制模块203还可以通过控制质心位置，以间接控制质心与旋转中心之间的偏移量，进而实现旋转速度快慢和旋转方向的控制。
对于动量守恒的方式，主要是在保证质心和重心重合的前提下，给系统一个初始动量来维持旋转。在本发明的实施例中，该初始动量可以通过风来获得，具体地：可以在无人飞行器底座20上设置喷气口，该喷气口用于向无人飞行器10喷气，以获取该初始动量。
需要说明的是，无人飞行器底座20中的控制模块203可以根据接收到的第一控制指令和/或第二控制指令来对喷气口的喷气时机进行控制，进而不仅能够获取到上述的初始动量以实现旋转，而且还能够实现对无人飞行器10的任意监控视角的调整。
在本发明的实施例中，除了控制模块203能够根据第一控制指令和/或第二控制指令 来控制无人飞行器10旋转、调整无人飞行器10的监控视角之外，无人飞行器10中的处理器104也能够实现类似的控制。具体地，可以在无人飞行器10上设置喷气口，该喷气口用于向外部喷气，以通过与空气相互作用来获取在旋转时的初始动量。其中，处理器104可以根据外部监控设备40发送的控制指令来控制喷气口的喷气时机，进而不仅能够获取到上述的初始动量以实现旋转，而且还能够实现对无人飞行器10的任意监控视角的调整。
在本发明的实施例中，上述的通信模块，如第一通信模块105、第二通信模块108、第三通信模块204和第四通信模块205可以是以下任一个或多个的组合：Wi-Fi通信模块、移动通信模块(如4G通信模块、5G通信模块等)、蓝牙通信模块、射频通信模块、红外通信模块、NFC(Near Field Communication，近距离无线通信)通信模块。
图3具体示出了根据本发明的实施例的无人飞行器系统的系统框图，以下结合图4至图10对本发明实施例的无人飞行器系统的示例性结构进行说明。
实施例一：
如图4所示，无人飞行器上的磁悬浮模块103与无人飞行器底座上的磁悬浮基座202相互作用以使无人飞行器悬浮于无人飞行器底座，无人飞行器上的无线充电模块102与无人飞行器底座上的无线充电基座模块201配对连接，以实现无线充电。在图4所示的结构中，无人飞行器与无人飞行器底座之间通过磁场之间的斥力作用实现悬浮。
实施例二：
如图5所示，无人飞行器底座与图4中所示的无人飞行器底座正好相反，在图3中，无人飞行器的磁悬浮模块103与无人飞行器底座的磁悬浮基座202是通过斥力来实现悬浮，而在图5所示的实施例中，无人飞行器的磁悬浮模块103与无人飞行器底座的磁悬浮基座202是通过吸力来实现悬浮。
实施例三：
如图6所示，无人飞行器底座是图4与图5中所示的无人飞行器底座的结合。在图6所示的实施例中，无人飞行器底座具有第一部分401、第二部分402和第三部分403。其中，无人飞行器底座上的磁悬浮基座202可以设置在图6中所示的第一部分401上，也可以设置在第三部分403，还可以在第一部分401和第三部分403上都设置磁悬浮基座202。
实施例四：
如图7所示，无人飞行器底座为弧形底座，该弧形底座部分围绕无人飞行器。此外，为了更加美观，无人飞行器底座也可以更多地围绕无人飞行器，如图8所示和图9所示，当然无人飞行器底座20也可以如图10所示完全围绕无人飞行器10。对于图8、图9和图10所示的结构，也可以将磁悬浮基座202设置在弧形底座的顶部，或者在弧形底座的顶部和底部都设置磁悬浮基座202。
本领域技术人员需要注意的是，对于图7至图10所示的结构，弧形底座也可以通过其它形状进行替换，比如可以通过方形环或方形环的一部分进行替换。
在本发明的一个应用场景中，上述的无人飞行器可以是无人机。比如当需要使用无人机拍摄图像或视频时，可以将无人机从底座上取下，当不使用无人机时，可以将无人机放置在底座上，进而通过悬浮的方式来实现监控，并且能够实现对特定物体的跟踪。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本发明的其它实施方案。本申请旨在涵盖本发明的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本发明未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本发明的真正范围和精神由所附的权利要求指出。
虽然已参照几个典型实施例描述了本发明，但应当理解，所用的术语是说明和示例性、而非限制性的术语。由于本发明能够以多种形式具体实施而不脱离申请的精神或实质，所以应当理解，上述实施例不限于任何前述的细节，而应在随附权利要求所限定的精神和范围内广泛地解释，因此落入权利要求或其等效范围内的全部变化和改型都应为随附权利要求所涵盖。

Claims (21)

  1. 一种无人飞行器，其特征在于，包括：
    摄像头，所述摄像头用于获取视频图像数据；
    处理器，所述处理器与所述摄像头相连接，用于处理所述视频图像数据，所述处理所述视频图像数据包括根据视觉识别算法识别视频图像中的特定物体，并对所述特定物体进行跟踪；
    无线充电模块，所述无线充电模块用于与外部无线充电基座模块配对连接；
    磁悬浮模块，所述磁悬浮模块用于使所述无人飞行器悬浮于外部磁悬浮基座；和
    第一通信模块，所述第一通信模块与所述处理器相连接。
  2. 根据权利要求1所述的无人飞行器，其特征在于，所述处理器还用于在处理所述视频图像数据后，生成第一控制指令。
  3. 根据权利要求2所述的无人飞行器，其特征在于，所述第一通信模块用于将所述第一控制指令发送至外部设备。
  4. 根据权利要求1所述的无人飞行器，其特征在于，所述无人飞行器还包括可充电电池，所述可充电电池与所述无线充电模块相连接，并通过所述无线充电模块进行充电。
  5. 根据权利要求1所述的无人飞行器，其特征在于，所述无人飞行器还包括存储器，所述存储器用于存储所述视频图像数据。
  6. 根据权利要求1所述的无人飞行器，其特征在于，所述无人飞行器还包括第二通信模块，所述第二通信模块与所述处理器相连接，并且还用于与外部监控设备进行无线通信连接。
  7. 根据权利要求6所述的无人飞行器，其特征在于，所述外部监控设备用于通过所述第二通信模块获取所述视频图像数据。
  8. 根据权利要求7所述的无人飞行器，其特征在于，所述外部监控设备包括显示屏，所述显示屏用于显示所述视频图像数据。
  9. 根据权利要求1所述的无人飞行器，其特征在于，所述磁悬浮模块包括永磁铁或电磁铁中的至少一种。
  10. 一种无人飞行器底座，其特征在于，包括：
    无线充电基座模块，所述无线充电基座模块用于与外部无线充电模块配对连接；
    磁悬浮基座；
    控制模块，所述控制模块用于控制所述磁悬浮基座；和
    第三通信模块，所述第三通信模块与所述控制模块相连接。
  11. 根据权利要求10所述的无人飞行器底座，其特征在于，所述第三通信模块还用 于与外部设备进行无线通信连接。
  12. 根据权利要求11所述的无人飞行器底座，其特征在于，所述控制模块通过所述第三通信模块从所述外部设备获取控制指令。
  13. 根据权利要求10所述的无人飞行器底座，其特征在于，所述磁悬浮基座包括电磁铁。
  14. 根据权利要求13所述的无人飞行器底座，其特征在于，所述控制模块用于控制所述电磁铁的电流强度、质心位置中的至少一种。
  15. 一种无人飞行器系统，包括权利要求1-9任一项所述的无人飞行器和权利要求10-14任一项所述的无人飞行器底座，其特征在于，所述第一通信模块与所述第三通信模块通过无线通信进行连接，且所述磁悬浮模块与所述磁悬浮基座配对作用以使所述无人飞行器悬浮于所述无人飞行器底座。
  16. 根据权利要求15所述的无人飞行器系统，其特征在于，所述控制模块从所述处理器获取第一控制指令。
  17. 根据权利要求16所述的无人飞行器系统，其特征在于，所述控制模块根据所述第一控制指令，控制所述磁悬浮基座以使所述无人飞行器旋转，全向跟踪所述特定物体。
  18. 根据权利要求15所述的无人飞行器系统，其特征在于，所述无线充电模块和所述无线充电基座模块通过Qi协议或A4WP协议进行配对连接。
  19. 根据权利要求15所述的无人飞行器系统，其特征在于，所述无人飞行器系统还包括外部监控设备，所述无人飞行器底座还包括第四通信模块，所述外部监控设备与所述第四通信模块通过无线通信进行连接。
  20. 根据权利要求19所述的无人飞行器系统，其特征在于，所述外部监控设备用于向所述无人飞行器底座发送第二控制指令。
  21. 根据权利要求20所述的无人飞行器系统，其特征在于，所述控制模块接收所述第二控制指令，并根据所述第二控制指令控制所述无人飞行器底座。
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